Dockerfile.ros

ARG ROS_DISTRIBUTION
FROM ros:$ROS_DISTRIBUTION-ros-base

LABEL mantainer="chiragmakwana02@gmail.com"

SHELL ["/bin/bash","-c"]

COPY ./requirements /requirements

RUN ls requirements
# install required deb packages
RUN apt-get update && cat /requirements/deb-packages.txt | xargs apt-get install -y --no-install-recommends && rm -rf /var/lib/apt/lists/*

# Install ROS Packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-mavros \
    ros-${ROS_DISTRO}-mavros-extras \
    ros-${ROS_DISTRO}-joystick-drivers \
    ros-${ROS_DISTRO}-tf \
    ros-${ROS_DISTRO}-rosbridge-suite \  
    && rm -rf /var/lib/apt/lists/*

# Install mavros dependancies
RUN sudo wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
RUN bash ./install_geographiclib_datasets.sh

# RUN apt-get update && apt-get install -y --no-install-recommends \
#     gstreamer1.0-tools \
#     libgstreamer1.0-dev \
#     libgstreamer-plugins-base1.0-dev \
#     libgstreamer-plugins-good1.0-dev \
#     && rm -rf /var/lib/apt/lists/*


# Install Python Modules
RUN pip install -f /requirements/python-moules.txt

RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-perception \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y --no-install-recommends \
    software-properties-common \
    && rm -rf /var/lib/apt/lists/*

RUN apt-add-repository ppa:borglab/gtsam-release-4.0 && apt-get update && apt-get install -y --no-install-recommends \
    libgtsam-dev \
    libgtsam-unstable-dev \
    && rm -rf /var/lib/apt/lists/*

RUN apt-add-repository ppa:ubuntu-toolchain-r/test && apt-get update && apt-get install -y --no-install-recommends \
    gcc-7 \
    g++-7 \
    && rm -rf /var/lib/apt/lists/*

RUN git clone --recursive https://github.com/berndpfrommer/tagslam_root.git

WORKDIR /tagslam_root

RUN apt-get update && apt-get install -y --no-install-recommends \
    python-catkin-tools \
    apt-transport-https \
    ca-certificates \
    && rm -rf /var/lib/apt/lists/*

RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo apt-key add -

RUN apt-add-repository 'deb https://apt.kitware.com/ubuntu/ xenial main' && apt-get update \
    # && apt-get install -y --no-install-recommends kitware-archive-keyring \
    && apt-key --keyring /etc/apt/trusted.gpg del C1F34CDD40CD72DA \
    && apt-get update && apt-get install -y --no-install-recommends \
    cmake \
    && rm -rf /var/lib/apt/lists/*

RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
    && catkin config -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER=g++-7 && catkin build




# # ROS workspace
# ARG BUILD_TYPE
# ENV BUILD_ENV=${BUILD_TYPE}
# ENV CATKIN_WS=/root/catkin_ws
# RUN mkdir -p $CATKIN_WS/src
# WORKDIR $CATKIN_WS/src
# COPY ./src .

# # build and install packages
# RUN if [ ${BUILD_ENV} = "install" ]; \
#         then source /opt/ros/$ROS_DISTRO/setup.bash \
#             && apt-get update \
#             && cd $CATKIN_WS \
#             && rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO \
#             && catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/$ROS_DISTRO \
#             && rm -R src ; \
#     elif [ $BUILD_ENV = "devel" ]; \
#         then source /opt/ros/$ROS_DISTRO/setup.bash \
#             && apt-get update \
#             && cd $CATKIN_WS \
#             && rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO \
#             && catkin_make ; \
#     else echo "Please select build types: [install/devel]" ; \
#     fi

# COPY ./scripts/entrypoint.sh /
# COPY ./scripts/ros-app.launch /

# EXPOSE 11311
# EXPOSE 19997
# EXPOSE 9090
# EXPOSE 9000

# ENTRYPOINT ["/entrypoint.sh"]